Arrange oven shelf to the middle of your oven. Preheat oven 200°C | 400°F. Line a baking sheet with foil or parchment paper and spray with nonstick cooking oil spray. Arrange chicken on the sheet and season with salt; set aside.
Combine together the lemon juice, honey, soy sauce, garlic, half of the parsley, salt and pepper. Pour three quarters of the honey lemon mixture over the chicken. Arrange the lemon slices over the top. Season with extra salt and pepper, if desired.
Cover with foil and bake for 20 minutes, or until the chicken is cooked through. Uncover, arrange the asparagus around the chicken. Pour the remaining honey lemon mixture over the asparagus; season the asparagus with salt and pepper. Return to the oven to grill or broil until the chicken is golden and the asparagus is cooked. Garnish with the remaining parsley.